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| | btMultiBodyDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btMultiBodyConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration) |
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| virtual | ~btMultiBodyDynamicsWorld () |
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| virtual void | solveConstraints (btContactSolverInfo &solverInfo) |
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| virtual void | addMultiBody (btMultiBody *body, int group=btBroadphaseProxy::DefaultFilter, int mask=btBroadphaseProxy::AllFilter) |
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| virtual void | removeMultiBody (btMultiBody *body) |
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| virtual int | getNumMultibodies () const |
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| btMultiBody * | getMultiBody (int mbIndex) |
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| const btMultiBody * | getMultiBody (int mbIndex) const |
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| virtual void | addMultiBodyConstraint (btMultiBodyConstraint *constraint) |
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| virtual int | getNumMultiBodyConstraints () const |
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| virtual btMultiBodyConstraint * | getMultiBodyConstraint (int constraintIndex) |
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| virtual const btMultiBodyConstraint * | getMultiBodyConstraint (int constraintIndex) const |
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| virtual void | removeMultiBodyConstraint (btMultiBodyConstraint *constraint) |
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| virtual void | integrateTransforms (btScalar timeStep) |
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| void | integrateMultiBodyTransforms (btScalar timeStep) |
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| void | predictMultiBodyTransforms (btScalar timeStep) |
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| virtual void | predictUnconstraintMotion (btScalar timeStep) |
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| virtual void | debugDrawWorld () |
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| virtual void | debugDrawMultiBodyConstraint (btMultiBodyConstraint *constraint) |
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| void | forwardKinematics () |
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| virtual void | clearForces () |
| | the forces on each rigidbody is accumulating together with gravity. clear this after each timestep. More...
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| virtual void | clearMultiBodyConstraintForces () |
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| virtual void | clearMultiBodyForces () |
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| virtual void | applyGravity () |
| | apply gravity, call this once per timestep More...
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| virtual void | serialize (btSerializer *serializer) |
| | Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo) More...
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| virtual void | setMultiBodyConstraintSolver (btMultiBodyConstraintSolver *solver) |
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| virtual void | setConstraintSolver (btConstraintSolver *solver) |
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| virtual void | getAnalyticsData (btAlignedObjectArray< struct btSolverAnalyticsData > &m_islandAnalyticsData) const |
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| virtual void | solveExternalForces (btContactSolverInfo &solverInfo) |
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| virtual void | solveInternalConstraints (btContactSolverInfo &solverInfo) |
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| void | buildIslands () |
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| virtual void | saveKinematicState (btScalar timeStep) |
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| | BT_DECLARE_ALIGNED_ALLOCATOR () |
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| | btDiscreteDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *pairCache, btConstraintSolver *constraintSolver, btCollisionConfiguration *collisionConfiguration) |
| | this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those More...
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| virtual | ~btDiscreteDynamicsWorld () |
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| virtual int | stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.)) |
| | if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's More...
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| virtual void | solveConstraints (btContactSolverInfo &solverInfo) |
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| virtual void | synchronizeMotionStates () |
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| void | synchronizeSingleMotionState (btRigidBody *body) |
| | this can be useful to synchronize a single rigid body -> graphics object More...
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| virtual void | addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false) |
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| virtual void | removeConstraint (btTypedConstraint *constraint) |
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| virtual void | addAction (btActionInterface *) |
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| virtual void | removeAction (btActionInterface *) |
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| btSimulationIslandManager * | getSimulationIslandManager () |
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| const btSimulationIslandManager * | getSimulationIslandManager () const |
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| btCollisionWorld * | getCollisionWorld () |
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| virtual void | setGravity (const btVector3 &gravity) |
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| virtual btVector3 | getGravity () const |
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| virtual void | addCollisionObject (btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::StaticFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter) |
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| virtual void | addRigidBody (btRigidBody *body) |
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| virtual void | addRigidBody (btRigidBody *body, int group, int mask) |
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| virtual void | removeRigidBody (btRigidBody *body) |
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| virtual void | removeCollisionObject (btCollisionObject *collisionObject) |
| | removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject More...
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| virtual void | debugDrawConstraint (btTypedConstraint *constraint) |
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| virtual void | debugDrawWorld () |
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| virtual void | setConstraintSolver (btConstraintSolver *solver) |
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| virtual btConstraintSolver * | getConstraintSolver () |
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| virtual int | getNumConstraints () const |
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| virtual btTypedConstraint * | getConstraint (int index) |
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| virtual const btTypedConstraint * | getConstraint (int index) const |
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| virtual btDynamicsWorldType | getWorldType () const |
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| virtual void | clearForces () |
| | the forces on each rigidbody is accumulating together with gravity. clear this after each timestep. More...
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| virtual void | applyGravity () |
| | apply gravity, call this once per timestep More...
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| virtual void | setNumTasks (int numTasks) |
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| virtual void | updateVehicles (btScalar timeStep) |
| | obsolete, use updateActions instead More...
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| virtual void | addVehicle (btActionInterface *vehicle) |
| | obsolete, use addAction instead More...
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| virtual void | removeVehicle (btActionInterface *vehicle) |
| | obsolete, use removeAction instead More...
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| virtual void | addCharacter (btActionInterface *character) |
| | obsolete, use addAction instead More...
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| virtual void | removeCharacter (btActionInterface *character) |
| | obsolete, use removeAction instead More...
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| void | setSynchronizeAllMotionStates (bool synchronizeAll) |
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| bool | getSynchronizeAllMotionStates () const |
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| void | setApplySpeculativeContactRestitution (bool enable) |
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| bool | getApplySpeculativeContactRestitution () const |
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| virtual void | serialize (btSerializer *serializer) |
| | Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo) More...
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| void | setLatencyMotionStateInterpolation (bool latencyInterpolation) |
| | Interpolate motion state between previous and current transform, instead of current and next transform. More...
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| bool | getLatencyMotionStateInterpolation () const |
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| btAlignedObjectArray< btRigidBody * > & | getNonStaticRigidBodies () |
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| const btAlignedObjectArray< btRigidBody * > & | getNonStaticRigidBodies () const |
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| | btDynamicsWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphase, btCollisionConfiguration *collisionConfiguration) |
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| virtual | ~btDynamicsWorld () |
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| virtual int | stepSimulation (btScalar timeStep, int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0 |
| | stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds. More...
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| virtual void | debugDrawWorld ()=0 |
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| virtual void | addConstraint (btTypedConstraint *constraint, bool disableCollisionsBetweenLinkedBodies=false) |
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| virtual void | removeConstraint (btTypedConstraint *constraint) |
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| virtual void | addAction (btActionInterface *action)=0 |
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| virtual void | removeAction (btActionInterface *action)=0 |
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| virtual void | setGravity (const btVector3 &gravity)=0 |
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| virtual btVector3 | getGravity () const =0 |
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| virtual void | synchronizeMotionStates ()=0 |
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| virtual void | addRigidBody (btRigidBody *body)=0 |
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| virtual void | addRigidBody (btRigidBody *body, int group, int mask)=0 |
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| virtual void | removeRigidBody (btRigidBody *body)=0 |
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| virtual void | setConstraintSolver (btConstraintSolver *solver)=0 |
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| virtual btConstraintSolver * | getConstraintSolver ()=0 |
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| virtual int | getNumConstraints () const |
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| virtual btTypedConstraint * | getConstraint (int index) |
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| virtual const btTypedConstraint * | getConstraint (int index) const |
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| virtual btDynamicsWorldType | getWorldType () const =0 |
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| virtual void | clearForces ()=0 |
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| void | setInternalTickCallback (btInternalTickCallback cb, void *worldUserInfo=0, bool isPreTick=false) |
| | Set the callback for when an internal tick (simulation substep) happens, optional user info. More...
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| void | setWorldUserInfo (void *worldUserInfo) |
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| void * | getWorldUserInfo () const |
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| btContactSolverInfo & | getSolverInfo () |
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| const btContactSolverInfo & | getSolverInfo () const |
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| virtual void | addVehicle (btActionInterface *vehicle) |
| | obsolete, use addAction instead. More...
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| virtual void | removeVehicle (btActionInterface *vehicle) |
| | obsolete, use removeAction instead More...
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| virtual void | addCharacter (btActionInterface *character) |
| | obsolete, use addAction instead. More...
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| virtual void | removeCharacter (btActionInterface *character) |
| | obsolete, use removeAction instead More...
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| | btCollisionWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration) |
| | for debug drawing More...
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| virtual | ~btCollisionWorld () |
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| void | setBroadphase (btBroadphaseInterface *pairCache) |
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| const btBroadphaseInterface * | getBroadphase () const |
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| btBroadphaseInterface * | getBroadphase () |
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| btOverlappingPairCache * | getPairCache () |
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| btDispatcher * | getDispatcher () |
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| const btDispatcher * | getDispatcher () const |
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| void | updateSingleAabb (btCollisionObject *colObj) |
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| virtual void | updateAabbs () |
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| virtual void | computeOverlappingPairs () |
| | the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) it can be useful to use if you perform ray tests without collision detection/simulation More...
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| virtual void | setDebugDrawer (btIDebugDraw *debugDrawer) |
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| virtual btIDebugDraw * | getDebugDrawer () |
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| virtual void | debugDrawWorld () |
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| virtual void | debugDrawObject (const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color) |
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| int | getNumCollisionObjects () const |
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| virtual void | rayTest (const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const |
| | rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. More...
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| void | convexSweepTest (const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const |
| | convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback. More...
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| void | contactTest (btCollisionObject *colObj, ContactResultCallback &resultCallback) |
| | contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback. More...
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| void | contactPairTest (btCollisionObject *colObjA, btCollisionObject *colObjB, ContactResultCallback &resultCallback) |
| | contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. More...
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| virtual void | addCollisionObject (btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter) |
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| virtual void | refreshBroadphaseProxy (btCollisionObject *collisionObject) |
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| btCollisionObjectArray & | getCollisionObjectArray () |
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| const btCollisionObjectArray & | getCollisionObjectArray () const |
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| virtual void | removeCollisionObject (btCollisionObject *collisionObject) |
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| virtual void | performDiscreteCollisionDetection () |
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| btDispatcherInfo & | getDispatchInfo () |
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| const btDispatcherInfo & | getDispatchInfo () const |
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| bool | getForceUpdateAllAabbs () const |
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| void | setForceUpdateAllAabbs (bool forceUpdateAllAabbs) |
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| virtual void | serialize (btSerializer *serializer) |
| | Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo) More...
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Public Member Functions inherited from btDiscreteDynamicsWorld